A Sliding Mode based Finite-Time Consensus Protocol for Heterogeneous Multi Agent UAS

Abstract

This paper presents a finite-time consensus for a connected network of heterogeneous unmanned aerial vehicles subjected to wind disturbances. A sliding mode control and graph algebraic theory based strategy is developed for consensus while independent tracking controller ensures robust trajectory following of an agent. Stability of the agents are decoupled from distributed consensus algorithm. Finite time convergence of the measurement vectors of heterogeneous agents to the agreement value are proved. Comparison results with the recent work show the superior performance of the proposed algorithm.